EP3185680A1

EP3185680A1 - Agricultural distribution machine having a system for the automatic switching of spray profiles

Info

Publication number: EP3185680A1
Application number: EP15757466.6A
Authority: EP
Inventors: Theodor Leeb
Original assignee: Horsch Leeb Application Systems GmbH
Current assignee: Horsch Leeb Application Systems GmbH
Priority date: 2014-08-29
Filing date: 2015-08-25
Publication date: 2017-07-05
Anticipated expiration: 2035-08-25
Also published as: WO2016030368A1; US10238098B2; US20170251657A1; EP3185680B1; DE102014112441A1; DE102014112441B4

Abstract

An agricultural distribution machine for dispensing liquid and/or solid plant protection agents is disclosed, having a distribution device which is arranged in a vertically adjustable manner on a frame of the distribution machine, and wherein a plurality of nozzle holders having spray nozzles provided thereon for distributing the plant protection agent to be dispensed are provided in a spaced-apart manner on said distribution machine, and wherein the distribution device is actuated on the basis of at least two spray profiles stored in a computer unit, said spray profiles being composed of a plurality of parameters. In order to achieve a constant distribution quality of the plant protection agent, provision is made for it to be possible for different spray profiles to be stored in a computer unit and, if the parameters of one spray profile deviate, for the distribution machine or the distribution device to be switched automatically to the parameters of a second spray profile.

Description

Agricultural distribution machine with a system for the automated control of spray profiles

The present invention relates to an agricultural distribution machine with a system for the automatic control of these, based on injection profiles, having the features of independent claim 1. The invention also relates to a method for applying liquid and / or solid pesticides by means of a distribution device having the features of the independent method claim 1 1.

Agricultural distribution machines or so-called field sprayers become the

Application or for the application of liquid and / or solid pesticides and / or fertilizers used. Such field sprayers with a transversely oriented to the direction of travel and moving over a plant stock distribution device, usually formed by a spray boom, are known in different embodiments, such as. As a self-propelled or towed by a towing vehicle or attached field sprayer.

With all these sprayers the goal is to be pursued, a defined

Liquid volume of pesticides, for example. In the form of so-called pesticides or fertilizers apply evenly and with a definable intensity on a plant stock, wherein the distribution of the liquid volume should be as possible depending on the particular pesticide to be applied. In order to achieve a uniform distribution as possible, various possibilities are known from the prior art.

At the sprayer boom of the distribution device at mutually spaced nozzle sticks are present. In turn, at least one spray nozzle, but as a rule several spray nozzles are attached to these nozzle sticks. The spray nozzles each produce a spray cone oriented toward the ground or the plant stand for the desired distribution of the plant protection products. Depending on the number and type of each controlled spray nozzles can thus be

configure different nozzle profiles. A nozzle, which is associated with a plurality of spray nozzles with different properties, has become known, for example, from DE 10 201 1 053 420 A1. Depending on the desired drop or Ausbringspektrum different spray nozzles can be controlled or different nozzle profiles are generated. In addition to the definition of nozzle profiles with different nozzle pitches, other parameters for varying the spray cones or for achieving the desired distribution accuracy of the plant protection agents are available on known distribution devices. Thus, there is a variation in a change in the height guidance, ie in the change in the distance between the plant population or the soil surface to the distribution device, which may have a positive or negative effect in particular on the so-called drift. Another variation is the use of different injection pressures, so the injection pressure with which the pesticide is applied over the stock. This injection pressure depends inter alia on the driving speed and the application rate. In order to achieve a distribution that is desired or required for the respective plant protection product to be applied, the variations or parameters between the nozzle profile, height guidance and injection pressure must be coordinated with each other.

For this purpose, a system is already known from the prior art, in which the control of different spray nozzles is automated based on the currently existing at the distributor spray pressure. However, there is no way for a user or an operator to define which ones

Spray nozzle combinations to be controlled. Also, no system is known from the prior art, in which in addition to an automated control of different spray nozzle combinations and an automated adjustment of the height guide is done. So far, the height guide had to be adjusted manually. However, such a system is not comfortable especially with frequent changes in the driving speed or the application rate or is thereby a control of the distribution device, for example, based on GPS data too slow and not possible. In particular, in the so-called precision farming, this manual control has proven to be not practical, especially since frequent and fast

Switching the spray profiles are desired with adapted distribution accuracy. The invention is therefore based on the object to provide a system in which different spray profiles can be stored in a computer unit, said spray profiles as parameters, for example. A nozzle profile a

associated injection pressure and an associated height guide can include, and in which an automatic actuation of the distribution device based on a further spray profile is carried out in a deviation of a parameter of a spray profile, by means of which also the required distribution accuracy can be achieved.

This object of the invention is achieved with the subject matter of independent claim 1 and with a method having the features of claim 11. Features of advantageous development of the invention will become apparent from the respective dependent claims.

The invention initially provides an agricultural distributor,

preferably in the form of a field sprayer, which may be designed as a self-propelled or attached to a towing vehicle or attached machine. Such field sprayers are used for spreading pesticides, for example. In the form of pesticides or fertilizers, use. The field sprayer essentially comprises a frame for supporting the individual assemblies, a storage container for carrying the plant protection agent to be applied, a computer unit for controlling the individual machine elements and their parameters, and a relative to the frame by means of adjusting elements height adjustable and transversely to the direction extending distributor or sprayer boom.

At the same or at different distances (for example, from about 25 cm and / or 50 cm), a plurality of nozzle sticks are arranged on the distributor device with at least one, but generally with a plurality of spray nozzles attached to each other. By means of these spray nozzles, the plant protection agent is distributed as far as possible according to the required distribution accuracy over the plant population or over the area to be treated. For this purpose, the spray nozzles produce a spraying cone which is oriented towards the plant's stock.

Depending on the plant protection agent to be applied in each case, different nozzle profiles can be selected in the computer unit or, for example, predetermined by an operator. That is, it is possible, each different combinations to define by spray nozzles of the respective nozzle sticks. Also, different distances from spray nozzles can be combined, these distances are preferably 25cm or 50cm. In this case, quadruple and / or double nozzle sticks are often used, four of which are usually four different nozzle sticks

Spray nozzles, each with different properties and on one

Two-nozzle stick each two different spray nozzles, each with different properties are available. It is also possible to connect or combine individual spray nozzles of the quadruple nozzle and the dual nozzle nozzle together. The nozzles are typically numbered 1 + 2 + 3 + 4 and 5 + 6, i. a nozzle combination could be, for example, 3 + 6. The spray nozzles are in turn here selected on the basis of the respectively required atomization characteristic (fine, medium or coarse droplets). Furthermore, the emission or opening angle of the individual spray cones are influenced by an appropriate choice of the spray nozzles. By the distance of the individual spray nozzles to one another, the number of overlapping of the spray cone juxtaposed nozzle sticks can be varied, so whether no, a double or multiple overlap of the spray cone is present to each other.

In addition, an injection pressure range and / or a working height or a height guidance is defined for each nozzle profile, so that in each case different spray profiles result from these at least two, but preferably three parameters. The currently present at the distribution device parameters are monitored or measured by sensors. If, for example, the injection pressure range is exceeded or undershot, an automated adaptation or activation of the distributor and / or distributor takes place on another spray profile, whereby for this purpose again at least two different spray profiles can be selected before the start of the crop protection process.

The desired spray profiles can be entered by means of a terminal or other input device in the computer unit of the distributor. It would also be conceivable for the injection profiles to be input on the basis of characteristic diagrams or by means of a database, for example of a manufacturer of pesticides. Other options for input would be conceivable. By the input control signals are then generated, which can specify by processing in the computer unit, which spray profile or which distribution accuracy for the respective Pesticide is needed to achieve a suitable for the crop protection wetting.

The height guide can be variably adjusted with an adjusting element, which is arranged between the frame of the carrier vehicle and the distributor. As actuators different actuators can be used. Preferably, hydraulically operating cylinders can be used for this purpose. But there are also pneumatic, electrical or other actuators used. The distance of

Distributor device for plant life can be done, for example, by means attached to this ultrasonic sensors or various other distance sensors. The

Altitude guidance also has a strong influence on the drift

Pesticides, which is usually smaller, the closer the

Distributor is guided over the plant population. A distance range of the height guide is typically approximately between 25cm and 50cm.

Due to the injection pressure is a pressure range in the supply system of

Distributor defined, i. with what pressure the supply systems or the spray nozzles are acted upon. This pressure range can be, for example, two to five bar. The pressure range is influenced during the Ausbringvorganges of various factors, for example. The application rate of pesticides, which in turn depends on the travel speed of the distribution device. This means that a change in the driving speed, a change in application rate of pesticides is required, which in turn may result in a change in the spray pressure.

An automated control of the distribution device could be carried out according to the present invention as follows. First, in one

Computer unit deposited different nozzle profiles, ie it is defined whether, for example, one or more spray nozzles at a distance of, for example. 25cm or 50cm are controlled together. Here, the various combinations are conceivable. It should be noted that not necessarily several nozzles must be controlled. It would also be conceivable to use only one spray nozzle in, for example, a distance of 50 cm. Each nozzle profile is assigned a pressure range and / or height guidance of the distributor device, ie it is defined which injection pressure the respective nozzle profiles may be subjected to, and at what distance or at which height the distributor device is to be guided over the plant population or the soil surface , These preferably three parameters together

Spray profile, wherein in the computer unit, a plurality of such spray profiles can be stored with a variety of parameters. At the beginning of

Ausbringvorganges can now, for example, an operator or a driver from the plurality of spray profiles select those by means of which the wetting or distribution accuracy required for the respective plant to be applied pesticides can be achieved. However, it would also be conceivable that, for example, by entering in the computer unit of the pesticide to be applied an automatic

Preselection of the spray profiles by the computer unit takes place. This is followed by the dispensing process, for which purpose a first spray profile with its associated

Nozzle profile and its associated injection pressure and / or its associated height guide selected or the distribution device is driven accordingly.

If, for example, the driving speed or the application rate is increased or decreased, as a result of which the predetermined injection pressure is undershot or exceeded, this may mean that the desired distribution accuracy may no longer be achieved and another spray profile would be necessary to achieve this previously desired

To achieve distribution accuracy again. If this is the case, an automated control of another, i.d.R. previously selected spray profile, with which the desired distribution accuracy is again achieved, but in which the parameters are defined differently. This means that in the distributor another nozzle profile and / or another height guide are controlled such that the desired wetting is achieved with a higher or lower injection pressure or a higher travel speed or a higher application rate.

In order to determine the parameters present at the distribution device during the Ausbringvorganges, various sensors or at this or the field sprayer

Measuring equipment available. By means of this, among other things, the height guidance, the injection pressure, the driving speed and / or the application rate can be determined. These values are then compared in an actual value setpoint comparison with the parameters stored in the computer unit and required for the respective spray profile. at corresponding deviations then turn the inventive reversing the distributor to another spray profile.

In a preferred embodiment, the switching intensities or the switching points of the spray profiles can also be deposited in a computer unit. This can be done, for example, by means of a parameterizable hysteresis. Likewise, the switching behavior can be defined such that during the activation of the

Distributor between the spray profiles neither a strong bottom nor

Overdose at the switchover time (opening the "new" nozzles to one

A strategy can also be defined to limit control-related pressure and thus volume fluctuations during the switchover point, preferably by temporarily "freezing" the control and starting the calculated points.

The inventive method thus enables a fast and variable automated adjustment of the respective spray profiles. This is particularly advantageous if the pesticides are applied on the basis of so-called "precision farming." The term "precision farming" in this context means a

Management of agricultural land taking into account

small-scale heterogeneities, for example. In the form of a sectionally larger weed or pest density. With an appropriate information and

Device control technology (GPS, GIS, on-board and spray computer, application software, image analysis, sensors, etc.), it is possible to localize these weed or pest densities and, for example, specifically adapt the pesticides in their application rate. By this adaptation, but in turn, if necessary, another spray profile may be necessary to achieve the desired distribution accuracy. This in turn the present invention is used, in turn, the

Spray profiles or their parameters can be adjusted automatically.

The respective parameters set by the spray profiles are preferably displayed or indicated in a terminal so that a machine operator can determine whether the spray profiles selected correspond to the desired working range or the required distribution quality. Thus, if necessary, the operator can also select or define additional or different spray profiles. In a preferred embodiment, the spray profiles or their

Parameter also be chosen such that this over the working width of the

Distributor may vary. This is u. a. when cornering important if, for example, the outside in the curved track spray nozzles should have a higher application rate of pesticides than the inside lying in the curved path. As a result, it may happen that the injection nozzles located on the inside require a smaller injection pressure than the outer ones, which then causes them to escape the pressure

Spray profiles that is selected, in which these parameters turn

largely coincide with the target parameter. It would also be conceivable here that, for example, another nozzle combination is used in the area located outside than in the interior, as a result of which, for example, the application rate could also be adapted. In general, the parameters can be varied in various ways.

According to a development of the invention, the parameters of the spray profiles when cornering based on determined values of a

Speed sensor or also be adapted by a plurality of speed sensors, wherein the speed sensor or the plurality of speed sensors of the distribution device, but optionally also can be associated with a towing vehicle. Preferably, two speed sensors are used, which are respectively provided on the side wings of the distributor or the spray boom. With the at least one speed sensor or with the plurality

Speed sensors, the speed of the distributor or the spray boom can be determined. On the basis of the measured speed, the application rate of pesticide or the injection pressure of the spray nozzles can be adjusted accordingly. At the same time, a corresponding profile of spray nozzles can be defined or selected, which is stored in the computer unit. To regulate the application rate or the injection pressures of the spray nozzles, the measured speed values are transmitted to a computer unit, which analyzes and evaluates the determined values. In practice, the detection of cornering has proved to be advantageous, since the application rate of crop protection agent can thus be adapted to the movement profile of the distributor. An even one Application of pesticides can now be guaranteed even when cornering.

It can also be provided that the parameters of the spray profiles are adapted during cornering on the basis of determined values from a gyroscope or also from a plurality of gyroscopes, wherein the gyroscope or the plurality of gyroscopes are assigned to the distributor device or to the carrier vehicle.

In a preferred embodiment, the distributor or the

Carrier associated with a gyroscope. The gyroscope can detect the centrifugal forces that occur during cornering, which act in particular on the distribution device, i. the gyroscope in the present embodiment measures the respective ones

Acceleration of the distribution device in the Z direction. In general, the tilts

Distributor when cornering inwards, so that the plant protection agent is injected unevenly. This disadvantage could by the arrangement of a

Gyroscope be corrected to the carrier vehicle or to the distribution device. By means of the gyroscope can be distinguished whether a straight ahead or a

Cornering of the carrier vehicle with the drawn distributor takes place. If there is a cornering, the gyroscope detects the movement and inclination of the

Spray boom and forwards the determined values to a computer unit. The computer unit ensures that the application rate or the injection pressures in the spray nozzles are adjusted according to the cornering. Optionally, at the same time manipulated variables can be generated, which keep the spray boom in a quiet and aligned parallel to the ground surface location.

Another way to detect cornering is to use the gyroscope to calculate the turning radius of the vehicle. It can thus both conclusions about the chosen steering angle of the

Vehicle as well as on the curve strength and direction as well as on the further course of the curve. The detection of cornering is based on this

Embodiment thereof, the acceleration of the vehicle or the

Spray boom to capture. Depending on the curve radius, the injection pressures of the

Spray nozzles based on the detected values of the movement of the

Adapted vehicle. To achieve the above object, the present invention also proposes a method for applying liquid and / or solid pesticides by means of a distribution device, which is arranged vertically adjustable on a frame of a distributor and with a plurality of each other

each of the nozzle sticks has at least one spray nozzle for distributing the pesticide to be applied. The control of the distribution device or the distribution of

Pesticides are based on at least two deposited in a computer unit spray profiles, each having at least two parameters and / or

Include sensor values. In the case of a deviation from at least one parameter or sensor value of a first spray profile, a changeover to the second spray profile takes place according to the invention, i. an automated control of the distribution device based on the parameters of the at least one second

Injection profile. Such a spray profile may be composed at least of a nozzle profile and / or an associated pressure range and / or an associated height guide for the spray boom or for the distribution device. The at least two spray profiles can be selected or configured in particular in such a way that with them a largely equal distribution quality can also be achieved on the basis of respectively different parameters. A nozzle profile can, for example, from variable control parameters of

Spray nozzles with different properties and / or the control of

Assemble spray nozzles with different distances. The spray profile is usefully stored in the computer unit, so that the computer unit in

Depending on the difference of an actual pressure range to a desired pressure range can determine which spray profile is currently used on the distribution device. In addition, the computer unit can thereby carry out an automated control of another spray profile and its nozzle profile and / or its height guidance in such a way that the actual pressure range corresponds approximately to the nominal pressure range. The pressure range can be influenced in particular by the driving speed and / or the desired or desired application rate of crop protection agent.

Furthermore, the method according to the invention can provide that the

Computer unit an automated control of the distribution device on at least one of the at least two existing spray profiles performs such that the

Parameter the parameters actually present on the distributor or

Sensor values come closest and the desired distribution quality achieved by means of these parameters or at least approximately reached, in which case in the

Computing unit preferably an actual value setpoint comparison can be performed. In order to obtain the desired control and operating parameters for the computer unit, sensors are respectively present on the distribution device and / or the distribution machine and serve to record the actual values of the parameters. Thus, the actual values of the existing parameters can be compared by means of the computer unit with the nominal values of the parameters of the selected spray profile. By determining a deviation of the parameters of the selected spray profile by means of the computer unit, a different spray profile can be selected in each case, whereby the parameters of this

Spray profiles are adjusted automatically.

The switching intensities between the parameters of the spray profiles are also stored in the computer unit in addition to numerous other default values. The

Spray profiles can, for example, be controlled and / or varied on the basis of small-scale heterogeneities, which are determined by means of information and device control technology. In addition, a strategy can be stored in the computer unit which limits control-related pressure and / or quantity fluctuations during the switching point between the spray profiles. Furthermore, it may be useful to have the parameters of the spray profiles defined by an operator and / or retrieve from a database. Another useful option may be to define the spray profiles in such a way that their parameters can vary over the working width of the distributor. According to a further expedient embodiment variant, the method can provide that the parameters of the spray profiles during cornering are adapted on the basis of determined values of one or more speed sensors. This speed sensor or the plurality of speed sensors can optionally be assigned to the distribution device and / or its distribution linkage.

In addition, it may be useful to set the parameters of the spray profiles at a

Cornering based on determined values from a gyroscope or a plurality of gyroscopes, wherein the gyroscope or the gyroscopes of the Distributor or its distribution linkage and / or a towing vehicle can be assigned.

It should be noted that with the selected or used spray profiles a largely equal distribution quality can be achieved with different parameters, i. the injection profiles are controlled in such a way that upon deviation of a parameter, a reversal of the distribution device to the

Parameter of another spray profile is done such that the distribution quality remains at least largely constant.

It should finally be mentioned that a deviation of a parameter of the spray profile causes only a control of another spray profile, insofar as their parameters correspond to the actual existing and by means of this, the desired distribution quality is achieved. This means that in each case the one spray profile is selected in which the parameters come as close as possible to the current values present on the distributor and the distribution quality coincides with the desired, at least for the most part.

In the following, embodiments of the invention and their advantages with reference to the accompanying figures will be explained in more detail. The proportions of the individual elements to one another in the figures do not always correspond to the actual size ratios, since some shapes are simplified and other shapes are shown enlarged in relation to other elements for better illustration.

Fig. 1 shows a schematic side view of an embodiment of a self-propelled agricultural machine or distributor with a distributor device arranged thereon.

FIG. 2 shows in a schematic block diagram the regulation or the components of the control of the distribution device.

FIG. 3 shows a plan view of an exemplary embodiment of a section of the distributor device with nozzle sticks or spray nozzles arranged thereon.

For identical or equivalent elements of the invention, identical reference numerals are used in FIGS. Further, for the sake of clarity, only Reference numerals in the individual figures shown, which are required for the description of the respective figure. The illustrated embodiments are only examples of how the distributor of the invention can be configured and do not represent a final limitation. The schematic side view of Fig. 1 shows an alternative embodiment of a self-propelled agricultural distributor 10, also known as a field sprayer 12 for spreading liquid crop protection - and / or fertilizers can be called. The field sprayer 12 is designed as a self-propelled machine. According to FIG. 1, the field sprayer 12 comprises a carrier vehicle 14 with its own drive and a frame 16 for carrying the individual assemblies, a reservoir 18 for carrying the pesticides to be applied, a computer unit 20 for controlling the individual machine elements and their parameters and one opposite the frame 16 by means of rear-side arranged on the carrier vehicle 14 actuators 22nd

height-adjustable and transversely to the direction of travel 24 extending distributor or sprayer rod 26. At the distributor 10 and at the distribution device 26 a plurality of nozzle sticks 28 are attached to each other at intervals of, for example, twenty five centimeters or fifty centimeters to each other. In turn, in each case at least one spray nozzle 30, but as a rule several spray nozzles 30, are / are mounted for evenly distributing the crop protection and / or fertilizer liquid. For this purpose, the spray nozzles 30 produce a plant stock 32 directed towards

Spray cone 34.

Next, the distributor 10 and the spray boom 26 are two

Speed sensors (not shown) assigned. The speed sensors are preferably provided on the side wings of the distributor 10 and the spray boom 26, respectively. A gyroscope (not shown here) can also be assigned to the carrier vehicle 14 or the distributor device 10 or the fueling rod 26. The speed sensors and / or the gyroscopes serve to a

To identify cornering, so that the application rate or the injection pressures 48 of the spray nozzles 30 are regulated according to the travel movement of the carrier vehicle 14.

The speed sensors measure each occurring

Speeds of the distributor 26 when cornering and transmit the Values to a computer unit. This evaluates the transferred values and controls the application rate of pesticides or the injection pressures 48 of the spray nozzles 30. Depending on this, a respective spray profile can be called up, which is stored in the computer unit (see FIG. In a further embodiment, in which a gyroscope is provided, however, the acceleration of the distribution device 26 or of the carrier vehicle 14 is detected. In this embodiment, the occurring centrifugal forces during cornering, which act in particular on the distributor 26, can be detected. In each case, the gyroscope measures the acceleration of the distribution device 26 in the Z direction or in the direction of a vertical axis.

Alternatively, conclusions about the set steering angle of the carrier vehicle 14 as well as the curve strength and direction as well as the further course of the curve can be drawn by means of the gyroscope. Here, the gyroscope is used to calculate the radius of curvature of the host vehicle 14. Depending on the radius of curvature, the injection pressures 48 of the spray nozzles 30 on the basis of the detected values to the

Travel movement of the carrier vehicle 14 adapted.

In the mentioned variants for detecting cornering, the measured values are transmitted to a computer unit. The computer unit then ensures that the application rate or the injection pressures 48 in the spray nozzles 30 are adjusted according to the cornering. If appropriate, manipulated variables can also be generated at the same time, which hold the distributor 26 in its position aligned parallel to the bottom surface.

The block diagram of FIG. 2 shows the control or the components of the control of the distribution device 26 and the input of the respective injection profiles 36 for discharging the pesticides. The spray profiles 36 are deposited in a computer unit 20. This can be done, for example, by input by means of a terminal 38 or else by reading in maps 40 or data from a database or also from a combination of reading and input. With the terminal 38 or with the maps 40 control signals 42 can be generated, which specify by processing in the computer unit 20, which spray profiles 36 are required. The spray profile 36 is defined by a plurality of parameters 44 or is dependent on these, which can be processed or varied at the distribution device 26 and / or the distribution machine 10 by means of the computer unit 20.

A first parameter initially provides different nozzle profiles 46 or a defined control of the spray nozzles 30 or of the nozzle rods 28. Thus, for example, for an operator, it is possible to respectively define different profiles of spray nozzles 30 in which the distances of individual nozzles could vary from one another, these distances preferably being twenty-five centimeters and / or fifty centimeters. This is influenced u.a. of the spray nozzle type. This is preferably selected on the basis of the respectively required atomization characteristics (fine, medium or coarse droplets). Next u. a. the angle of the individual spray cone 34 influenced.

Another parameter defines a pressure range 48 or an injection pressure 48 in the supply system of the distribution device 26, i. with what pressure the

Supply systems or the spray nozzles 30 are acted upon. This pressure range 48 may be, for example, two to five bar. The pressure area 48 is during the

Ausbringvorganges influenced by various factors, for example. Of the

Application rate of pesticides, which in turn u. a. of the

Driving speed of the distribution device depends. This means that a change in the travel speed to a change in application rate

Crop protection is required, which in turn has a change in the injection pressure 48 result.

Again, another parameter determines the height guide 50 and the working distance that the distributor 26 has during the Ausbringvorganges to plant stock 32. This height guide 50 is variably adjusted with an adjusting element 22, which is arranged between the frame 16 of the carrier vehicle 14 and the distributing device 26 (cf., FIG. 1). As adjusting elements 22 for the

Height guide the distributor 26 different actuators can be used. Preferably, hydraulically operating cylinders can be used for this purpose. But it is also useful to use pneumatic, electrical or other actuators. By varying these preferably three mentioned parameters 44 are in the computer unit 20 various different spray profiles 36 for discharging the

Crop protection produced.

An automated control of the distribution device 26 could be carried out according to the present invention as follows. First, in one

Computing unit 20 different nozzle profiles 46 deposited, i. It is defined whether, for example, one or more spray nozzles 30 at a distance of eg. 25cm or 50cm are controlled together.

Each nozzle profile 46 is assigned a pressure area 48 and a height guide 50 of the distributor 26, i. It is defined with which injection pressure 48 the respective nozzle profiles 46 may be acted upon and at which distance or at which height the distribution device 26 is to be guided over the plant population or the soil surface.

At the beginning of Ausbringvorganges example, an operator or a

Driver from the plurality of spray profiles 36 select those by means of which the distribution accuracy required for the respective plant to be applied crop protection can be achieved. However, it would also be conceivable that, for example, an automatic preselection of the spray profiles 36 by the computer unit 20 takes place by input in the computer unit 20 of the pesticide to be applied. This is followed by the beginning of the dispensing process, for which purpose a first injection profile 36 with its associated nozzle profile 46 and its

associated injection pressure 48 and the height guide 50 selected or the

Distributor 26 is driven accordingly.

If, for example, the driving speed is increased or decreased, as a result of which the application rate is also increased or decreased and, if necessary, the preset injection pressure 48 is undershot or exceeded, this can mean that the desired wetting can no longer be achieved and another spray profile 36 would be necessary to achieve this. If this is the case, carried out by the computer unit 20 is an automated control of another, i d. R. previously selected, spray profile 36, by means of which the desired distribution accuracy with the currently present at the distribution device parameters is at least largely achieved, but in which the parameters 36 are defined differently. This means that in the distribution device 26 another

Nozzle profile 46 or another height guide 50 is driven in such a way, so that the desired wetting is achieved with a higher or lower injection pressure 48 as well. In order during the Ausbringvorganges at the distributor 26th

existing parameters to determine 44, 12 various sensors 52 and measuring means are present at this or the field sprayer. By means of these u. a. the height guide 50, the injection pressure 48, the driving speed or the application rate are determined. These values are then compared in an actual value setpoint comparison with the values stored in the computer unit 20 and required for the particular injection profile 36. In the case of corresponding deviations, the inventive reversing of the distributing device 26 then takes place again on another injection profile 36.

Fig. 3 shows in a plan view of an embodiment of a portion of the distribution device 26 arranged thereon nozzle sticks 28, 28 'and spray nozzles 30. Here, a total of four nozzle sticks are shown. In each case, two so-called quadruple 28 and a so-called two-nozzle stick 28 'are shown, which are each mounted at a distance a1 or a2 from one another. The distances here are usually for a1 50cm and for a2 25 cm, and it would be quite conceivable that this

Distances are chosen differently. The spray nozzles are each from 1 to 6

numbered. A selection of nozzle combinations can now, for example, the spray nozzles 1 + 5 combine or the spray nozzles 4 + 6, etc. Or it could also only the spray nozzles 1 are switched, these nozzle profiles 46 depending on the desired distribution accuracy defined arbitrarily and stored in the computer unit 20 can. In addition, each nozzle profile 46, a pressure range 48 and / or a height guide 50 are assigned and thus of example. From a user different spray profiles 36 are defined.

The invention has been described with reference to a preferred embodiment. However, it will be apparent to those skilled in the art that modifications or changes may be made to the invention without departing from the scope of the following claims. LIST OF REFERENCES

10 distributor, distributor

12 field sprayer

14 carrier vehicle

16 frames

18 storage tanks

20 computer unit

22 control element

24 direction of travel

26 distribution device

28, 28 'nozzle

30 spray nozzle

32 plant stocks; ground surface

34 spray cone

36 spray profile

38 terminal

40 maps

42 control signals

44 parameters

46 Nozzle profile

48 Pressure range, injection pressure, actual pressure range, target pressure range 50 Height guidance

52 sensors

Claims

claims

Agricultural distribution machine (10) for discharging liquid and / or solid pesticides by means of a distribution device (26) which is arranged vertically adjustable on a frame (16) of the distributor (10) and with a plurality of respectively spaced nozzle sticks (28, 28 ' ), wherein each of the nozzle sticks (28, 28 ') in each case has at least one spray nozzle (30) for distributing the pesticide to be applied, the triggering of the distributing device (26) or the distribution of the pesticides based on at least two in a computer unit (20) deposited spray profiles (36) takes place, which each comprise at least two parameters (44) and / or sensor values, wherein at a deviation of at least one parameter (44) or sensor value of a first spray profile (36) an automated control the distribution device (36) based on the parameters (44) of the at least one n second spray profiles (36) takes place.

Agricultural distribution machine according to claim 1, wherein a spray profile (36) at least from a nozzle profile (46) and / or an associated pressure area (48) and / or an associated height guide (50) composed.

An agricultural spreader according to claim 1 or 2, wherein a

Nozzle profile (46) composed of the control of spray nozzles (30) with different properties and / or the control of spray nozzles (30) with different distances.

Agricultural distribution machine according to one of claims 1 to 3, wherein the spray profile (36) is stored in the computer unit (20) and the computer unit (20) in dependence on the difference of an actual pressure range (48) to a desired pressure range (48 ) determines which spray profile (36) is currently used on the distribution device (26) and performs an automated control on another spray profile (36) and its nozzle profile (46) and / or its height guide (50) such that the actual pressure range (48) corresponds approximately to the desired pressure range (48).

5. Agricultural distributor according to claim 4, wherein the distribution device (26) and / or the distributor (10) each have sensors (52) for detecting the actual values of the parameters (44) are mounted, wherein the actual values of the existing Parameter (44) by means of the computer unit (20) with the desired values of the parameters (44) of the selected spray profile (36) are compared.

6. agricultural distributor according to claim 4 or 5, wherein the

Shift intensities between the parameters (44) of the spray profiles (36) are stored in the computer unit (20).

7. Agricultural distributor according to one of claims 4 to 6, wherein in the computer unit (20) a strategy is deposited, which during the

Switching point between the spray profiles (36) control-related pressure and / or volume fluctuations limited.

8. Agricultural distributor according to one of claims 1 to 13, wherein the injection profiles (36) are defined such that their parameters (44) on the

Working width of the distributor (26) are variable or variable.

An agricultural spreader according to any one of claims 1 to 8, wherein the parameters (44) of the spray profiles (36) are adaptable during cornering based on determined values of one or more speed sensors, the one or more velocity sensors of the spreader (26 ) or their distribution linkage are assigned.

An agricultural spreader according to any of claims 1 to 9, wherein the parameters (44) of the sprayed profiles (36) are adaptable when cornering based on determined values of one or more gyroscopes, the one or more gyroscopes of the spreader (26 ) or whose distribution linkage and / or a towing vehicle are assigned.

1 1. Process for applying liquid and / or solid pesticides

by means of a distributing device (26), which is arranged in a height-adjustable manner on a frame (16) of a distributor (10) and is provided with a plurality of mutually spaced nozzle rods (28, 28 '), each of the nozzle rods (28, 28') each at least one spray nozzle (30) for distributing the auszubringenden Plant protection means, wherein the control of the distribution device (26) or the distribution of pesticides based on at least two in a computer unit (20) deposited spray profiles (36) takes place, each comprising at least two parameters (44) and / or sensor values In the case of a deviation from at least one parameter (44) or sensor value of a first spray profile (36), an automated control of the distributor device (36) takes place on the basis of the parameters (44) of the at least one second spray profile (36).

12. The method of claim 1 1, wherein a spray profile (36) at least from a nozzle profile (46) and / or an associated pressure range (48) and / or an associated height guide (50) composed.

13. The method of claim 1 1 or 12, wherein the at least two spray profiles (36) are selected or configured such that with these a substantially equal distribution quality with different parameters (44) is achieved. 14. The method according to any one of claims 1 1 to 13, wherein a nozzle profile (46) from the control of spray nozzles (30) with different properties and / or the control of spray nozzles (30) with different distances

composed.

15. The method according to any one of claims 1 1 to 14, wherein the injection profile (36) in the computer unit (20) is deposited and the computer unit (20) in dependence on the

Difference of an actual pressure range (48) to a desired pressure range (48) determines which spray profile (36) is currently being used on the distributor device (26) and an automated control of another spray profile (36) and its nozzle profile (46) and / or whose height guide (50) performs such that the actual pressure range (48) approximately corresponds to the desired pressure range (48).

16. The method according to any one of claims 1 1 to 15, wherein the computer unit (20) performs an automated control of the distribution device (26) on at least one of the at least two existing spray profiles (36) such that the parameters (44) on the Distributor (26) actually existing parameters (44) come closest and the desired distribution quality by means of these parameters (44) is achieved, for which purpose in the computer unit (20) an actual value setpoint comparison can be performed.

17. The method according to any one of claims 1 1 to 16, wherein the pressure range (48) is influenced by the driving speed and / or the application rate of pesticides.

18. The method according to any one of claims 1 1 to 17, wherein at the distribution device (26) and / or the distributor (10) each have sensors (52) for detecting the actual values of the parameters (44) are mounted, wherein the actual Values of the existing parameters (44) are compared by means of the computer unit (20) with the nominal values of the parameters (44) of the selected spray profile (36).

19. The method according to any one of claims 1 1 to 18, wherein by determining a

Deviation of the parameters (44) of the selected spray profile (36) by means of the computer unit (20) a different spray profile (36) is selected, the parameters (44) of this spray profile (36) are automatically adjusted. 20. The method according to any one of claims 1 1 to 19, wherein the switching intensities between the parameters (44) of the injection profiles (36) in the computer unit (20) are deposited.

21. Method according to one of claims 1 1 to 20, wherein the spray profiles (36) based on small-scale heterogeneities, which by means of information and

Device control technology can be determined, driven and / or varied.

22. The method according to any one of claims 1 1 to 21, wherein in the computer unit (20) a strategy is deposited, which limits control-related pressure and / or volume fluctuations during the switching point between the spray profiles (36). 23. The method according to any one of claims 1 1 to 22, wherein the parameters (44) of the

Spray profiles (36) can be defined by an operator and / or retrieved from a database.

24. The method according to any one of claims 1 1 to 23, wherein the injection profiles (36) can be defined such that their parameters (44) over the working width of the distribution device (26) can vary.

25. The method of claim 1, wherein the parameters of the spray profiles are adjusted during cornering on the basis of determined values from one or more speed sensors, wherein the at least one speed sensor is the one or more speed sensors

Distributor (26) or its distribution linkage is assigned.

26. The method of claim 1, wherein the parameters of the spray profiles are adjusted during cornering on the basis of determined values of one or more gyroscopes, wherein the at least one gyroscope of the distribution device 26) or whose distribution linkage and / or a towing vehicle is assigned.